آمار

تعداد نشریات13
تعداد شماره‌ها237
تعداد مقالات2,406
تعداد مشاهده مقاله3,888,040
تعداد دریافت فایل اصل مقاله2,826,466
Ghasemi, M. H., Korayem, A. H., Nekoo, S. R., Korayem, M. H.. (1395). Improvement of position measurement for 6R robot using magnetic encoder AS5045. فناوری آموزش, 6(1), 11-20. doi: 10.22061/jcarme.2016.517
M. H. Ghasemi; A. H. Korayem; S. R. Nekoo; M. H. Korayem. "Improvement of position measurement for 6R robot using magnetic encoder AS5045". فناوری آموزش, 6, 1, 1395, 11-20. doi: 10.22061/jcarme.2016.517
Ghasemi, M. H., Korayem, A. H., Nekoo, S. R., Korayem, M. H.. (1395). 'Improvement of position measurement for 6R robot using magnetic encoder AS5045', فناوری آموزش, 6(1), pp. 11-20. doi: 10.22061/jcarme.2016.517
Ghasemi, M. H., Korayem, A. H., Nekoo, S. R., Korayem, M. H.. Improvement of position measurement for 6R robot using magnetic encoder AS5045. فناوری آموزش, 1395; 6(1): 11-20. doi: 10.22061/jcarme.2016.517

Improvement of position measurement for 6R robot using magnetic encoder AS5045

Journal of Computational & Applied Research in Mechanical Engineering (JCARME)
مقاله 3، دوره 6، شماره 1 - شماره پیاپی 11، مهر 2016، صفحه 11-20    اصل مقاله (2.85 M)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22061/jcarme.2016.517
نویسندگان
M. H. Ghasemi؛ A. H. Korayem؛ S. R. Nekoo؛ M. H. Korayem*
Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, Faculty of Mechanical Engineering, Iran University of Science and Technology, 1684613114, Tehran, Iran
تاریخ دریافت: 21 دی 1393،  تاریخ بازنگری: 17 فروردین 1395،  تاریخ پذیرش: 29 فروردین 1395 
چکیده
Recording the variation of joint angles as a feedback to the control unit is frequent in articulated arms. In this paper, magnetic sensor AS5045, which is a contactless encoder, is employed to measure joint angles of 6R robot and the performance of that is examined. The sensor has a low volume, two digital outputs and provides a high resolution measurement for users; furthermore its zero position is adjustable.  Installation and use of this measurement system on 6R robot has been expressed by using output signals of sensor AS5045 in the digital control board of 6R and equipped with ARM processor LPC1768. First, a sample of digital board is used for controlling a DC motor in both speed and position, in order to investigate specifications of AS5045’s digital and analogue outputs. Simulation of 6R robot in point-to-point motion has been performed with MATLAB software using a proportional derivative (PD) controller. Then, experiment with the same condition and gains via a PD controller has been designed and implemented on the digital control board. The feedback system has been also checked in a circular path to show its advantages in trajectory tracking. The comparison of simulation results with experiments shows improvement: less error and better performance of 6R robot. This new setup omitted the noise of previous analogue feedback system since its digital outputs provides a precise measurement.
کلیدواژه‌ها
Magnetic sensors؛ 6R robot؛ Joint angle؛ PD controller
مراجع
[1] J. Tedford, “Design of a robot gripper with force feedback control,” Mechatronics, Vol. 1, No. 3, pp. 311-319, (1991).

[2] R. Siegwart, K. O. Arras, S. Bouabdallah, D. Burnier, G. Froidevaux and X. Greppin, “Robox at Expo. 02: A large-scale installation of personal robots,” Robotics and Autonomous Systems, Vol. 42, No. 3, pp. 203-222, (2003).

[3] J.-W. Kim, C.-R. Shin, H.-S. Kim, J.-H. Kyung, Y.-H. Ha, and H.-S. Yu, “Error model and kinematic calibration of a 5-axis hybrid machine tool,” in Proceedings IEEE International Joint Conference SICE-ICASE, pp. 3111-3115, (2006).

[4] Z. Yu, B. K. Ghosh, N. Xi, and T.-J. Tarn, “Multi-sensor based planning and control for robotic manufacturing systems,” in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems95.'Human Robot Interaction and Cooperative Robots', Vol. 3, pp. 222-227, (1995).

[5] H. Reemeijer, “Control of a pipe inspection robot,” Master’s thesis, University of Twente, (2010).

[6] F. Iida, R. Dravid and C. Paul, “Design and control of a pendulum driven hopping robot,” in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2141-2146, (2002).

[7] L. Wang, J. DelPreto, S. Bhattacharyya, J. Weisz, and P. K. Allen, “A highly-underactuated robotic hand with force and joint angle sensors,” in Proceedings IEEE/RSJInternational Conference on Intelligent Robots and Systems, pp. 1380-1385, (2011).

[8] C. Potluri, M. A. D. H. A. V. I. Anugolu, S. Chiu, D. S. Naidu and M. Schoen, “A SEMG-based Real-time Adaptive Joint angle Estimation and Control for a Prosthetic Hand Prototype,” in Proceedings of WSEAS International Conference on Advances in Systems Theory, signal Processing and Computational, Science, pp. 124-129, (2012).

[9] A. Zagler and F. Pfeiffer, ““MORITZ” a pipe crawler for tube junctions,” in Proceedings IEEE International Conference on Robotics and Automation, pp. 2954-2959, (2003).

[10] M. Quigley, R. Brewer, S. P. Soundararaj, V. Pradeep, Q. Le and A. Y. Ng, “Low-cost accelerometers for robotic manipulator perception,” in Proceedings IEEE/RSJInternational Conference on Intelligent Robots and Systems, pp. 6168-6174, (2010).

[11] Y. Nasu, G. Capi, H. Yussof, M. Yamano, and M. Ohka, “Development of a CORBA-based Humanoid Robot and its Applications,” Humanoid Robots: Human-like Machines, Book edited by: Matthias Hackel, ISBN 978-3-902613-07-3, pp. 642, Itech, Vienna, Austria, (2007).

[12] P. Sente and H. Buyse, “From smart sensors to smart actuators: application of digital encoders for position and speed measurements in numerical control systems,” Measurement, Vol. 15, No. 1, pp. 25-32, (1995).

[13] A. Simpkins and E. Todorov, “Position estimation and control of compact BLDC motors based on analog linear halleffect sensors,” in Proceedings American Control Conference, pp. 1948-1955, (2010).

[14] M. H. Korayem, M. Irani and S. R. Nekoo, “Motion Control and Dynamic Load Carrying Capacity of Mobile Robot via Nonlinear Optimal Feedback,” AMAE International Journal on Manufacturing and Material Science, Vol. 2, No. 1, pp. 16.21, (2012).

[15] M. H. Korayem, M. Irani and S. R. Nekoo, “Analysis of Manipulators Using SDRE: A Closed Loop Nonlinear Optimal Control Approach,” Journal of Sciatica Iranica, Transaction B: Mechanical Engineering, Vol. 17, No. 6, pp. 456-467, (2010).

[16] M. H. Korayem and S. R. Nekoo, “Finite-time state-dependent Riccati equation for time-varying nonaffine systems: Rigid and flexible joint manipulator control,” ISA Transactions, Vol. 54, pp. 125-144, (2015).

[17] P. Desbiolles and A. Friz, “Development of high resolution sensor element MPS40S and dual track magnetic encoder for rotational speed and position measurement,” NTN Technical Review, Vol. 75, pp. 36-41, (2007).

[18] Q. Wang, B. Zhang, Y. Tian and M. Sun, “An Absolute Magnetic Rotary Encoder Based on Kalman Filter,” In The Twenty-fifth International Offshore and Polar Engineering Conference, International Society of Offshore and Polar Engineers, (2015).

[19] Data sheet of AS5045 magnetic encoder, Austria Micro System, http://www.austriamicrosystems.com/.

[20] M. H. Korayem, S. Rafee Nekoo and F. Abdollahi, “Hardware implementation of a closed loop controller on 6R robot using ARM microcontroller,”  International Research Journal of Applied and Basic Sciences, Vol. 4, No. 8, pp. 2147-2158, (2013).

آمار
تعداد مشاهده مقاله: 2,272
تعداد دریافت فایل اصل مقاله: 2,300


سامانه مدیریت نشریات علمی. طراحی و پیاده سازی از سیناوب